OpenRaiser/Intern-Atlas huggingface dataset:
Occlusion Robustness of CLIP for Military Vehicle Classification
Venue: arXiv cs.CV 2025
Year: 2025

Vision-language models (VLMs) like CLIP enable zero-shot classification by aligning images and text in a shared embedding space, offering advantages for defense applications with scarce labeled data. However, CLIP's robustness in challenging military environments, with partial occlusion and degraded signal-to-noise ratio (SNR), remains underexplored. We investigate CLIP variants' robustness to occlusion using a custom dataset of 18 military vehicle classes and evaluate using Normalized Area Under the Curve (NAUC) across occlusion percentages. Four key insights emerge: (1) Transformer-based CLIP models consistently outperform CNNs, (2) fine-grained, dispersed occlusions degrade performance more than larger contiguous occlusions, (3) despite improved accuracy, performance of linear-probed models sharply drops at around 35% occlusion, (4) by finetuning the model's backbone, this performance drop occurs at more than 60% occlusion. These results underscore the importance of occlusion-specific augmentations during training and the need for further exploration into patch-level sensitivity and architectural resilience for real-world deployment of CLIP.
SEAL: Structure and Element Aware Learning to Improve Long Structured Document Retrieval
Venue: arXiv cs.IR 2025
Year: 2025

In long structured document retrieval, existing methods typically fine-tune pre-trained language models (PLMs) using contrastive learning on datasets lacking explicit structural information. This practice suffers from two critical issues: 1) current methods fail to leverage structural features and element-level semantics effectively, and 2) the lack of datasets containing structural metadata. To bridge these gaps, we propose \our, a novel contrastive learning framework. It leverages structure-aware learning to preserve semantic hierarchies and masked element alignment for fine-grained semantic discrimination. Furthermore, we release \dataset, a long structured document retrieval dataset with rich structural annotations. Extensive experiments on both released and industrial datasets across various modern PLMs, along with online A/B testing, demonstrate consistent performance improvements, boosting NDCG@10 from 73.96\% to 77.84\% on BGE-M3. The resources are available at https://github.com/xinhaoH/SEAL.
Speech Emotion Recognition via Entropy-Aware Score Selection
Venue: arXiv cs.SD 2025
Year: 2025

In this paper, we propose a multimodal framework for speech emotion recognition that leverages entropy-aware score selection to combine speech and textual predictions. The proposed method integrates a primary pipeline that consists of an acoustic model based on wav2vec2.0 and a secondary pipeline that consists of a sentiment analysis model using RoBERTa-XLM, with transcriptions generated via Whisper-large-v3. We propose a late score fusion approach based on entropy and varentropy thresholds to overcome the confidence constraints of primary pipeline predictions. A sentiment mapping strategy translates three sentiment categories into four target emotion classes, enabling coherent integration of multimodal predictions. The results on the IEMOCAP and MSP-IMPROV datasets show that the proposed method offers a practical and reliable enhancement over traditional single-modality systems.
A Graph-Based Test-Harness for LLM Evaluation
Venue: arXiv cs.AI 2025
Year: 2025

We present a first known prototype of a dynamic, systematic benchmark of medical guidelines for 400+ questions, with 3.3+ trillion possible combinations, covering 100\% of guideline relationships. We transformed the WHO IMCI handbook into a directed graph with 200+ nodes (conditions, symptoms, treatments, follow-ups, severities) and 300+ edges, then used graph traversal to generate questions that incorporated age-specific scenarios and contextual distractors to ensure clinical relevance. Our graph-based approach enables systematic evaluation across clinical tasks (45-67\% accuracy), and we find models excel at symptom recognition but struggle with triaging severity, treatment protocols and follow-up care, demonstrating how customized benchmarks can identify specific capability gaps that general-domain evaluations miss. Beyond evaluation, this dynamic MCQA methodology enhances LLM post-training (supervised finetuning, GRPO, DPO), where correct answers provide high-reward samples without expensive human annotation. The graph-based approach successfully addresses the coverage limitations of manually curated benchmarks. This methodology is a step toward scalable, contamination-resistant solution for creating comprehensive benchmarks that can be dynamically generated, including when the guidelines are updated. Code and datasets are available at https://github.com/jessicalundin/graph_testing_harness
FusionCounting: Robust visible-infrared image fusion guided by crowd counting via multi-task learning
Venue: arXiv cs.CV 2025
Year: 2025

Visible and infrared image fusion (VIF) is an important multimedia task in computer vision. Most VIF methods focus primarily on optimizing fused image quality. Recent studies have begun incorporating downstream tasks, such as semantic segmentation and object detection, to provide semantic guidance for VIF. However, semantic segmentation requires extensive annotations, while object detection, despite reducing annotation efforts compared with segmentation, faces challenges in highly crowded scenes due to overlapping bounding boxes and occlusion. Moreover, although RGB-T crowd counting has gained increasing attention in recent years, no studies have integrated VIF and crowd counting into a unified framework. To address these challenges, we propose FusionCounting, a novel multi-task learning framework that integrates crowd counting into the VIF process. Crowd counting provides a direct quantitative measure of population density with minimal annotation, making it particularly suitable for dense scenes. Our framework leverages both input images and population density information in a mutually beneficial multi-task design. To accelerate convergence and balance tasks contributions, we introduce a dynamic loss function weighting strategy. Furthermore, we incorporate adversarial training to enhance the robustness of both VIF and crowd counting, improving the model's stability and resilience to adversarial attacks. Experimental results on public datasets demonstrate that FusionCounting not only enhances image fusion quality but also achieves superior crowd counting performance.
cMALC-D: Contextual Multi-Agent LLM-Guided Curriculum Learning with Diversity-Based Context Blending
Venue: arXiv cs.LG 2025
Year: 2025

Many multi-agent reinforcement learning (MARL) algorithms are trained in fixed simulation environments, making them brittle when deployed in real-world scenarios with more complex and uncertain conditions. Contextual MARL (cMARL) addresses this by parameterizing environments with context variables and training a context-agnostic policy that performs well across all environment configurations. Existing cMARL methods attempt to use curriculum learning to help train and evaluate context-agnostic policies, but they often rely on unreliable proxy signals, such as value estimates or generalized advantage estimates that are noisy and unstable in multi-agent settings due to inter-agent dynamics and partial observability. To address these issues, we propose Contextual Multi-Agent LLM-Guided Curriculum Learning with Diversity-Based Context Blending (cMALC-D), a framework that uses Large Language Models (LLMs) to generate semantically meaningful curricula and provide a more robust evaluation signal. To prevent mode collapse and encourage exploration, we introduce a novel diversity-based context blending mechanism that creates new training scenarios by combining features from prior contexts. Experiments in traffic signal control domains demonstrate that cMALC-D significantly improves both generalization and sample efficiency compared to existing curriculum learning baselines. We provide code at https://github.com/DaRL-LibSignal/cMALC-D.
GDLLM: A Global Distance-aware Modeling Approach Based on Large Language Models for Event Temporal Relation Extraction
Venue: arXiv cs.CL 2025
Year: 2025

In Natural Language Processing(NLP), Event Temporal Relation Extraction (ETRE) is to recognize the temporal relations of two events. Prior studies have noted the importance of language models for ETRE. However, the restricted pre-trained knowledge of Small Language Models(SLMs) limits their capability to handle minority class relations in imbalanced classification datasets. For Large Language Models(LLMs), researchers adopt manually designed prompts or instructions, which may introduce extra noise, leading to interference with the model's judgment of the long-distance dependencies between events. To address these issues, we propose GDLLM, a Global Distance-aware modeling approach based on LLMs. We first present a distance-aware graph structure utilizing Graph Attention Network(GAT) to assist the LLMs in capturing long-distance dependency features. Additionally, we design a temporal feature learning paradigm based on soft inference to augment the identification of relations with a short-distance proximity band, which supplements the probabilistic information generated by LLMs into the multi-head attention mechanism. Since the global feature can be captured effectively, our framework substantially enhances the performance of minority relation classes and improves the overall learning ability. Experiments on two publicly available datasets, TB-Dense and MATRES, demonstrate that our approach achieves state-of-the-art (SOTA) performance.
Estimating 2D Keypoints of Surgical Tools Using Vision-Language Models with Low-Rank Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a novel pipeline for 2D keypoint estima- tion of surgical tools by leveraging Vision Language Models (VLMs) fine- tuned using a low rank adjusting (LoRA) technique. Unlike traditional Convolutional Neural Network (CNN) or Transformer-based approaches, which often suffer from overfitting in small-scale medical datasets, our method harnesses the generalization capabilities of pre-trained VLMs. We carefully design prompts to create an instruction-tuning dataset and use them to align visual features with semantic keypoint descriptions. Experimental results show that with only two epochs of fine tuning, the adapted VLM outperforms the baseline models, demonstrating the ef- fectiveness of LoRA in low-resource scenarios. This approach not only improves keypoint detection performance, but also paves the way for future work in 3D surgical hands and tools pose estimation.
Learning Primitive Embodied World Models: Towards Scalable Robotic Learning
Venue: arXiv cs.RO 2025
Year: 2025

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of embodied data fundamentally limit the alignment granularity between language and actions and exacerbate the challenge of long-horizon video generation--hindering generative models from achieving a "GPT moment" in the embodied domain. There is a naive observation: the diversity of embodied data far exceeds the relatively small space of possible primitive motions. Based on this insight, we propose a novel paradigm for world modeling--Primitive Embodied World Models (PEWM). By restricting video generation to fixed short horizons, our approach 1) enables fine-grained alignment between linguistic concepts and visual representations of robotic actions, 2) reduces learning complexity, 3) improves data efficiency in embodied data collection, and 4) decreases inference latency. By equipping with a modular Vision-Language Model (VLM) planner and a Start-Goal heatmap Guidance mechanism (SGG), PEWM further enables flexible closed-loop control and supports compositional generalization of primitive-level policies over extended, complex tasks. Our framework leverages the spatiotemporal vision priors in video models and the semantic awareness of VLMs to bridge the gap between fine-grained physical interaction and high-level reasoning, paving the way toward scalable, interpretable, and general-purpose embodied intelligence.
Deep Fuzzy Optimization for Batch-Size and Nearest Neighbors in Optimal Robot Motion Planning
Venue: arXiv cs.RO 2025
Year: 2025

Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can enhance performance in the planning process. However, existing approaches often lack environmental adaptability. Inspired by the method of the deep fuzzy neural networks, this work introduces Learning-based Informed Trees (LIT*), a sampling-based deep fuzzy learning-based planner that dynamically adjusts batch size and nearest neighbor parameters to obstacle distributions in the configuration spaces. By encoding both global and local ratios via valid and invalid states, LIT* differentiates between obstacle-sparse and obstacle-dense regions, leading to lower-cost paths and reduced computation time. Experimental results in high-dimensional spaces demonstrate that LIT* achieves faster convergence and improved solution quality. It outperforms state-of-the-art single-query, sampling-based planners in environments ranging from R^8 to R^14 and is successfully validated on a dual-arm robot manipulation task. A video showcasing our experimental results is available at: https://youtu.be/NrNs9zebWWk
SincQDR-VAD: A Noise-Robust Voice Activity Detection Framework Leveraging Learnable Filters and Ranking-Aware Optimization
Venue: arXiv cs.SD 2025
Year: 2025

Voice activity detection (VAD) is essential for speech-driven applications, but remains far from perfect in noisy and resource-limited environments. Existing methods often lack robustness to noise, and their frame-wise classification losses are only loosely coupled with the evaluation metric of VAD. To address these challenges, we propose SincQDR-VAD, a compact and robust framework that combines a Sinc-extractor front-end with a novel quadratic disparity ranking loss. The Sinc-extractor uses learnable bandpass filters to capture noise-resistant spectral features, while the ranking loss optimizes the pairwise score order between speech and non-speech frames to improve the area under the receiver operating characteristic curve (AUROC). A series of experiments conducted on representative benchmark datasets show that our framework considerably improves both AUROC and F2-Score, while using only 69% of the parameters compared to prior arts, confirming its efficiency and practical viability.
CoCoL: A Communication Efficient Decentralized Collaborative Method for Multi-Robot Systems
Venue: arXiv cs.RO 2025
Year: 2025

Collaborative learning enhances the performance and adaptability of multi-robot systems in complex tasks but faces significant challenges due to high communication overhead and data heterogeneity inherent in multi-robot tasks. To this end, we propose CoCoL, a Communication efficient decentralized Collaborative Learning method tailored for multi-robot systems with heterogeneous local datasets. Leveraging a mirror descent framework, CoCoL achieves remarkable communication efficiency with approximate Newton-type updates by capturing the similarity between objective functions of robots, and reduces computational costs through inexact sub-problem solutions. Furthermore, the integration of a gradient tracking scheme ensures its robustness against data heterogeneity. Experimental results on three representative multi robot collaborative learning tasks show the superiority of the proposed CoCoL in significantly reducing both the number of communication rounds and total bandwidth consumption while maintaining state-of-the-art accuracy. These benefits are particularly evident in challenging scenarios involving non-IID (non-independent and identically distributed) data distribution, streaming data, and time-varying network topologies.
Vibe Coding: Is Human Nature the Ghost in the Machine?
Venue: arXiv cs.CY 2025
Year: 2025

This exploratory study examined the consistency of human-AI collaboration by analyzing three extensive "vibe coding" sessions between a human product lead and an AI software engineer. We investigated similarities and differences in team dynamics, communication patterns, and development outcomes across both projects. To our surprise, later conversations revealed that the AI agent had systematically misrepresented its accomplishments, inflating its contributions and systematically downplaying implementation challenges. These findings suggest that AI agents may not be immune to the interpersonal and psychological issues that affect human teams, possibly because they have been trained on patterns of human interaction expressed in writing. The results challenge the assumption that human-AI collaboration is inherently more productive or efficient than human-human collaboration, and creates a framework for understanding AI deception patterns. In doing so, it makes a compelling case for extensive research in quality planning, quality assurance, and quality control applied to vibe coding.
How Can Input Reformulation Improve Tool Usage Accuracy in a Complex Dynamic Environment? A Study on $τ$-bench
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in reasoning and planning capabilities of large language models (LLMs) have enabled their potential as autonomous agents capable of tool use in dynamic environments. However, in multi-turn conversational environments like $τ$-bench, these agents often struggle with consistent reasoning, adherence to domain-specific policies, and extracting correct information over a long horizon of tool-calls and conversation. To capture and mitigate these failures, we conduct a comprehensive manual analysis of the common errors occurring in the conversation trajectories. We then experiment with reformulations of inputs to the tool-calling agent for improvement in agent decision making. Finally, we propose the Input-Reformulation Multi-Agent (IRMA) framework, which automatically reformulates user queries augmented with relevant domain rules and tool suggestions for the tool-calling agent to focus on. The results show that IRMA significantly outperforms ReAct, Function Calling, and Self-Reflection by 16.1%, 12.7%, and 19.1%, respectively, in overall pass^5 scores. These findings highlight the superior reliability and consistency of IRMA compared to other methods in dynamic environments.
Guarding Against Malicious Biased Threats (GAMBiT) Experiments: Revealing Cognitive Bias in Human-Subjects Red-Team Cyber Range Operations
Venue: arXiv cs.CR 2025
Year: 2025

We present three large-scale human-subjects red-team cyber range datasets from the Guarding Against Malicious Biased Threats (GAMBiT) project. Across Experiments 1-3 (July 2024-March 2025), 19-20 skilled attackers per experiment conducted two 8-hour days of self-paced operations in a simulated enterprise network (SimSpace Cyber Force Platform) while we captured multi-modal data: self-reports (background, demographics, psychometrics), operational notes, terminal histories, keylogs, network packet captures (PCAP), and NIDS alerts (Suricata). Each participant began from a standardized Kali Linux VM and pursued realistic objectives (e.g., target discovery and data exfiltration) under controlled constraints. Derivative curated logs and labels are included. The combined release supports research on attacker behavior modeling, bias-aware analytics, and method benchmarking. Data are available via IEEE Dataport entries for Experiments 1-3.
ConfLogger: Enhance Systems' Configuration Diagnosability through Configuration Logging
Venue: arXiv cs.SE 2025
Year: 2025

Modern configurable systems offer customization via intricate configuration spaces, yet such flexibility introduces pervasive configuration-related issues such as misconfigurations and latent softwarebugs. Existing diagnosability supports focus on post-failure analysis of software behavior to identify configuration issues, but none of these approaches look into whether the software clue sufficient failure information for diagnosis. To fill in the blank, we propose the idea of configuration logging to enhance existing logging practices at the source code level. We develop ConfLogger, the first tool that unifies configuration-aware static taint analysis with LLM-based log generation to enhance software configuration diagnosability. Specifically, our method 1) identifies configuration-sensitive code segments by tracing configuration-related data flow in the whole project, and 2) generates diagnostic log statements by analyzing configuration code contexts. Evaluation results on eight popular software systems demonstrate the effectiveness of ConfLogger to enhance configuration diagnosability. Specifically, ConfLogger-enhanced logs successfully aid a log-based misconfiguration diagnosis tool to achieve 100% accuracy on error localization in 30 silent misconfiguration scenarios, with 80% directly resolvable through explicit configuration information exposed. In addition, ConfLogger achieves 74% coverage of existing logging points, outperforming baseline LLM-based loggers by 12% and 30%. It also gains 8.6% higher in precision, 79.3% higher in recall, and 26.2% higher in F1 compared to the state-of-the-art baseline in terms of variable logging while also augmenting diagnostic value. A controlled user study on 22 cases further validated its utility, speeding up diagnostic time by 1.25x and improving troubleshooting accuracy by 251.4%.
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
Venue: arXiv cs.LG 2025
Year: 2025

Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using sampling-based planners (SBPs) that explore the robot's high-dimensional state space by constructing a search tree via action propagations. Although SBPs can offer global guarantees on completeness and solution quality, their performance is often hindered by slow exploration due to uninformed action sampling. Learning-based approaches can yield significantly faster runtimes, yet they fail to generalize to out-of-distribution (OOD) scenarios and lack critical guarantees, e.g., safety, thus limiting their deployment on physical robots. We present Diffusion Tree (DiTree): a provably-generalizable framework leveraging diffusion policies (DPs) as informed samplers to efficiently guide state-space search within SBPs. DiTree combines DP's ability to model complex distributions of expert trajectories, conditioned on local observations, with the completeness of SBPs to yield provably-safe solutions within a few action propagation iterations for complex dynamical systems. We demonstrate DiTree's power with an implementation combining the popular RRT planner with a DP action sampler trained on a single environment. In comprehensive evaluations on OOD scenarios, DiTree achieves on average a 30% higher success rate compared to standalone DP or SBPs, on a dynamic car and Mujoco's ant robot settings (for the latter, SBPs fail completely). Beyond simulation, real-world car experiments confirm DiTree's applicability, demonstrating superior trajectory quality and robustness even under severe sim-to-real gaps. Project webpage: https://sites.google.com/view/ditree.